EP3453595A1 - Procédé de caractérisation d'un espace de stationnement pour un véhicule automobile délimité par deux objets, système d'aide au stationnement ainsi que véhicule automobile - Google Patents

Procédé de caractérisation d'un espace de stationnement pour un véhicule automobile délimité par deux objets, système d'aide au stationnement ainsi que véhicule automobile Download PDF

Info

Publication number
EP3453595A1
EP3453595A1 EP18189924.6A EP18189924A EP3453595A1 EP 3453595 A1 EP3453595 A1 EP 3453595A1 EP 18189924 A EP18189924 A EP 18189924A EP 3453595 A1 EP3453595 A1 EP 3453595A1
Authority
EP
European Patent Office
Prior art keywords
parking space
motor vehicle
contour
determined
parking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP18189924.6A
Other languages
German (de)
English (en)
Other versions
EP3453595B1 (fr
Inventor
Mathieu Bulliot
Piotr SZCZYTOWSKI
Tobias Schwalb
Jean-Francois Bariant
Manuel Kreibich
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Schalter und Sensoren GmbH
Original Assignee
Valeo Schalter und Sensoren GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Schalter und Sensoren GmbH filed Critical Valeo Schalter und Sensoren GmbH
Publication of EP3453595A1 publication Critical patent/EP3453595A1/fr
Application granted granted Critical
Publication of EP3453595B1 publication Critical patent/EP3453595B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/584—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of vehicle lights or traffic lights
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking space
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2015/932—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations
    • G01S2015/933—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past
    • G01S2015/935—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles for parking operations for measuring the dimensions of the parking space when driving past for measuring the contour, e.g. a trajectory of measurement points, representing the boundary of the parking space

Definitions

  • the invention relates to a method for characterizing a parking space bounded by two objects for a motor vehicle in which contour points of the objects are detected by a sensor device of the motor vehicle while passing the motor vehicle at the parking space and an orientation of the parking space is determined relative to the motor vehicle based on the contour points ,
  • the invention also relates to a parking assistance system and a motor vehicle.
  • the motor vehicle for supporting the driver by the parking assistance system can be at least semi-autonomously parked in a parking space.
  • semi-autonomous maneuvering the parking assistance system of the motor vehicle takes over a steering of the motor vehicle, while a driver of the motor vehicle actuates the accelerator pedal and the brake of the motor vehicle.
  • the parking assistance system actuates the accelerator pedal, the brake and the gear shift in addition to the steering, so that the motor vehicle is automatically steered, accelerated and decelerated.
  • the parking space is usually characterized, for example by an orientation of the parking space is determined.
  • This is from the DE 10 2009 028 251 A1 a method for assisted parking in a parking space known.
  • the vehicle is guided along a first section of a parking trajectory up to an intermediate point.
  • the parking space is designed as a parallel parking space or as a diagonal parking space.
  • the vehicle is guided along a second section of the parking trajectory, wherein the second section is selected such that the vehicle is guided in dependence on the presence of a parallel parking space or a diagonal parking space.
  • a method for the classification of parking scenarios for a parking assistance system of a motor vehicle is described.
  • a predetermined number of parking scenarios is described, each parking scenario on at least one parking space specific parameters based.
  • data of the environment of the motor vehicle are determined by means of an environmental sensor system and the at least one parking space-specific parameter is determined from the environmental data. Then, based on the at least one parking space-specific parameter, the parking scenario is classified.
  • the DE 10 2013 103 569 A1 discloses a parking lot detection apparatus in which contour points of two parallel parked vehicles between which a parking lot is located are determined. Based on the contour points, corner points of the parked vehicles are calculated, by means of which the parking space is detected. It is assumed that the vehicles are parked in parallel. If this is not the case, during the drive of the motor vehicle to the parking lot, a location correction processing is performed. This results in the disadvantage that the actual orientation of the parking space is detected only when the motor vehicle has already started the parking process, ie the drive to the parking lot. It may happen that the parking must be canceled if, for example, it was found while driving in the parking lot that the orientation of the parking is unsuitable for the motor vehicle.
  • contour points of the objects are detected by a sensor device of the motor vehicle while passing the motor vehicle at the parking space and an orientation of the parking space relative to the motor vehicle is determined by the contour points.
  • first contour points on an inner side facing the parking space and extending along a depth direction of the parking space and / or on one of the parking spaces are turned away and along the Depth direction of the parking space extending outside detected and based on the first contour points a first contour line is determined.
  • second contour points are detected on an outside facing away from the parking space and extending along the depth direction of the parking space and / or on an inner side facing the parking space and extending along the depth direction of the parking space, and a second contour line is formed on the basis of the second contour points certainly. Based on an orientation of the first contour line and the second contour line, the orientation of the parking space can be determined.
  • contour points of the objects are detected by a sensor device of the motor vehicle while passing the motor vehicle at the parking space, and an orientation of the parking space relative to the motor vehicle is determined on the basis of the contour points.
  • first contour points on an inner side facing the parking space and extending along a depth direction of the parking space and / or on an outer side facing away from the parking space and extending along the depth direction of the parking space are detected and a first contour point is determined on the basis of the first contour points Contour line determined.
  • second contour points on an outer side facing away from the parking space and extending along the depth direction of the parking space and / or on an inner side facing the parking space and extending along the depth direction of the parking space are detected, and a second contour line is determined based on the second contour points , Based on an orientation of the first contour line and the second contour line, the orientation of the parking space is determined.
  • a parking assistance system for the motor vehicle can be realized by which a driver of the motor vehicle can be supported when parking in a parking space.
  • the parking space is characterized by determining the orientation of the parking space relative to the motor vehicle.
  • the orientation of the parking space are here in particular a kind of parking space, by which a vehicle installation of the motor vehicle is determined in the parking space, and to understand a form of parking space.
  • the orientation is determined in particular on the basis of an orientation of mutually opposite side boundaries of the parking space extending along the depth direction of the parking space.
  • the parking space which is limited by the two objects, may be formed, for example, as a transverse parking space, a pitched parking space or a parking space gap.
  • the two objects are in particular two parking motor vehicles, between which the parking space is located.
  • the motor vehicle In a parking space designed as a transverse parking space, the motor vehicle has a vertical installation as the vehicle installation, in a parking space designed as a sloping parking space, the motor vehicle has an oblique installation as the vehicle installation and in a parking space designed as a longitudinal parking space, the motor vehicle has a longitudinal installation as the vehicle installation.
  • the shape of the parking space may have a rectangular shape in the case of objects positioned parallel to one another and defining a parking space.
  • the shape of the parking space may be trapezoidal, for example. This can occur, for example, when a parked motor vehicle is turned off, and thereby the parking space is tapered, for example, along the depth direction.
  • each of the objects has an outer side, which represents a surface area of the object facing away from the parking space, and an inner side, which represents a surface area of the object facing the parking space.
  • the insides of the objects correspond to the lateral boundaries of the parking space.
  • the insides and outsides extend along the depth direction. In other words, inner and outer sides extend over a depth of the parking space.
  • the inner sides and outer sides need not be oriented parallel to the depth direction, but may also be oriented obliquely to the depth direction.
  • the outer sides and the inner sides are formed by side areas of the parked motor vehicles.
  • the outer sides and the inner sides are formed by rear areas or front areas of the parked motor vehicles.
  • the parking space is characterized by the park space limiting objects.
  • the contour points are detected on surface regions of the objects extending along the depth direction by means of sensor data of the sensor device.
  • the sensor device has a high detection range.
  • the contour points are detected by means of at least one radar sensor and / or at least one lidar sensor and / or at least one camera of the sensor device of the motor vehicle.
  • a sensor device comprising a radar sensor and / or a lidar sensor, for example a laser scanner, and / or a camera, detailed information about the objects can advantageously be obtained be, since such sensors have in particular a high detection range.
  • the contour points represent, for example, reflection points of a sensor signal received from the surrounding area on the surface of the objects.
  • Each contour point can be assigned a spatial position value or position value which represents a distance as well as an orientation of the reflection point on the respective surface area of the objects to the motor vehicle.
  • the first contour points on the surface area forming the inside of the first object and in the second object can be detected.
  • the inner pages are captured in both objects.
  • the sensor device of the motor vehicle looks into the parking space and thereby captures the first and second contour points of the objects.
  • the first contour line can be determined, for example by means of a compensation calculation, which represents both the inside of the first object and a first of the side boundaries of the parking space.
  • the second contour points can be determined, for example by means of compensation calculation, the second contour line, which represents both the inside of the second object and a second of the side boundaries of the parking space. From the detection of the insides of the objects there is the advantage that the orientations of the side boundaries of the parking space can be determined directly.
  • the inside of one object and the outside of the other object can be detected.
  • the first contour points can be detected on the surface area forming the inside of the first object.
  • the sensor device of the motor vehicle looks into the parking space and thereby detects the first contour points of the first object.
  • the first contour line can be determined, which represents both the inside of the first object and the first side boundary of the parking space.
  • the second contour points on the outside of the second object are detected. Based on these second contour points can be determined, for example by means of compensation calculation, the second contour line.
  • the second contour line thus represents the outside of the second object and extends along the depth direction of the parking space. Based on the orientation of the second contour line can be closed on the orientation of the second side boundary of the parking space become. In particular, it is assumed here that the outside of the second object is oriented approximately parallel to the inside of the second object, the inside of the second object representing the second side boundary of the parking space. Likewise, in the case of the first object, the first contour points on the surface area forming the outside of the first object can be detected, and in the second object the second contour points on the surface area forming the inside of the second object can be detected.
  • the orientations of the side boundaries of the parking space already with a particularly high accuracy Beginning of the parking process during the passage can be determined.
  • the parking space is thus characterized before the parking process is started in the parking space.
  • the characterization of the parking space is completed before the motor vehicle dips into the parking space.
  • the first contour points on the surface area forming the outside of the first object and, in the case of the second object, the second contour points on the surface area forming the outside of the second object can be detected.
  • the sensor device of the motor vehicle for detecting the first and second contour points does not have to look into the parking space.
  • the first contour line can be determined and based on the second contour points, for example by means of compensation calculation, the second contour line can be determined.
  • the contour lines represent the outer sides of the objects and extend along the depth direction of the parking space.
  • the orientation of the contour lines can be concluded that the orientation of the side boundaries of the parking space.
  • the outer sides of the objects are approximately parallel to the associated insides of the objects oriented, wherein the inner sides represent the side boundaries of the parking space.
  • the orientations of the side boundaries of the parking space and thus the orientation of the parking space can be advantageously determined on the basis of the orientations of the contour lines. If the contour lines and thus the side boundaries are oriented parallel to each other, then it can be assumed that the parking space is rectangular. If the contour lines and thus the side boundaries are oriented at an angle to one another, then it can be assumed that the parking space is not rectangular and, for example, is tapered along the depth direction.
  • At least one third contour line is determined by parallel displacement of the first and / or second contour line representing the outside of the object by a predetermined displacement value, through which one of the parking spaces faces Inside of the object is represented.
  • the at least one third contour line is determined as a side boundary of the parking space extending in the depth direction of the parking space.
  • the invention is based on the finding that, in particular in the case of objects in the form of parked motor vehicles, the outside and the inside run substantially parallel to one another. In this case, the first and / or second contour line characterizing the outside of the first and / or the second object is shifted by the predetermined displacement value.
  • This displacement value represents a distance between the outside and the inside of the first and / or the second object.
  • the at least one resulting third contour line describes the inside of the first and / or the second object.
  • the inner side of the first and / or the second object determined on the basis of the parallel displacement of the first and / or the second contour line thus corresponds at least to one side boundary of the parking space.
  • the parallel-shifted contour line of the first side boundary and the contour line determined on the basis of the contour points on the inside correspond to the second side boundary. Based on an orientation of the side boundaries then the orientation of the parking space can be determined.
  • Which of the side areas of the objects extending along the depth direction from the sensor device during the passage of the motor vehicle past the parking space depends, in particular, on an attachment location of the sensor device on the motor vehicle and a viewing direction of the sensor device.
  • the contour points on the inner side can be detected.
  • the contour points on the outside can be detected.
  • a contour line representing the outside can be determined by detecting the contour points on the outside at the object first passed by the motor vehicle while passing by.
  • a contour line representing the inner side can be determined by detecting the contour points on the inner side at the last object passed by the motor vehicle while passing by.
  • the sensor device can be arranged here, for example, in a front region of the motor vehicle and look forward.
  • the contour line representing the outside can be displaced in parallel in the direction of travel.
  • a contour line representing the inside can be determined by detecting the contour points on the inside at the object first passed by the motor vehicle while passing and a contour line representing the outside by detecting the contour points on the outside be determined in the last passed by the motor vehicle during the passage past object.
  • the sensor device can be arranged here, for example, in a rear region of the motor vehicle and look backwards. To determine the third contour line, the contour line representing the outside can thereby be displaced parallel to the direction of travel.
  • the inner sides and the outer sides of both objects can be detected.
  • the orientations of the lateral boundaries of the parking space can thus be determined once directly on the basis of the contour lines representing the insides and once indirectly on the basis of the parallel-displaced contour lines.
  • the orientation of the parking space can be determined particularly safe and reliable.
  • a value between 1.55 m and 2.50 m, in particular 1.85 m is determined as the predetermined displacement value.
  • this shift value has the value of a standard width of motor vehicles.
  • the contour points on the outside are detected in at least one of the objects, in this object third contour points on a front side facing the motor vehicle are determined, a length of the front side of the object is determined on the basis of the third contour points, and the shift value is determined as the length of the front side.
  • the front side is oriented in particular perpendicular to the first and / or second contour line representing the outside and adjoins the first and / or second contour line representing the outside.
  • the front side corresponds to the front area of the parked motor vehicle.
  • the front corresponds to the rear of the parked motor vehicle.
  • an actual width of the parked motor vehicle can be determined. This is particularly advantageous if the parked motor vehicle has a width which does not correspond to the standard width, or if the parked motor vehicle is parked longitudinally.
  • the displacement value has at least 1.85 m. Only if the length of the front side is greater than 1.85 m, the value of the length of the front side is specified as the shift value.
  • a depth direction-dependent width of the parking space is determined based on a spatial position of the side boundaries of the parking space representing contour lines.
  • the contour lines representing the side boundaries may be the contour lines which are determined on the basis of contour points on inner sides of the objects and / or which are determined or generated by parallel displacement of the contour lines representing the outside. Due to the spatial position of the side boundaries representing contour lines to each other thus a depth direction-dependent distance of the contour lines, so the two side boundaries of the parking space determined which characterizes the depth-dependent width of the parking space.
  • a rejuvenation of the parking space in the depth direction can be detected and thus predicted, for example, whether the parking space over the entire depth is wide enough for receiving the motor vehicle.
  • the depth of the parking space can be determined on the basis of the length of at least one of the contour lines extending in the depth direction. Thus, it can be predicted before the start of the parking process, whether you parking space is deep enough to accommodate the motor vehicle.
  • a length of the first and / or second contour line representing the outside is determined and the orientation of the parking space on the basis of the first and the second contour line is determined only when the length of the first and / or second contour line representing the outside exceeds a predetermined threshold value.
  • This embodiment is based on the knowledge that the first and / or second contour line representing the outside can only be detected reliably if the outside of the relevant object is uncovered at least over a predetermined area. If, for example, a third object is positioned next to the relevant object, then it may happen that the third object covers or shields the outside of the relevant object at least in regions.
  • the orientation of the parking space is not determined on the basis of the contour lines, if the length of the first and / or second contour line representing the outside falls below the predetermined threshold value.
  • the invention also relates to a parking assistance system for a motor vehicle for assisting a driver of the motor vehicle when parking in a parking space bounded by two objects.
  • the parking assistance system in particular, a sensor device for detecting contour points of the objects while passing the motor vehicle at the parking space and a control device for determining an orientation of the parking space relative to the motor vehicle based on the contour points.
  • the sensor device is designed, in particular, to detect first contour points on an inner side facing the parking space and along the depth direction of the parking space and / or on an outer side facing away from the parking space and extending along the depth direction of the parking space, and at a first second of the objects second contour points facing away from the parking space and extending along a depth direction of the parking space outside and / or on one of the parking space and to detect along the depth direction of the parking space extending inside.
  • the control device is designed, in particular, to determine a first contour line on the basis of the first contour points and a second contour line on the basis of the second contour points, and to determine the orientation of the parking space on the basis of a spatial position of the first contour line and the second contour line.
  • the parking assistance system has a sensor device for detecting contour points of the objects while passing the motor vehicle at the parking space and a control device for determining an orientation of the parking space relative to the motor vehicle based on the contour points.
  • the sensor device is designed to detect first contour points on a first side of the objects facing the parking space and extending along the depth direction of the parking space and / or on an outer side facing away from the parking space and extending along the depth direction of the parking space, and at a second the objects second contour points on one of the parking space facing away and along a depth direction of the parking space extending outside and / or on one of the parking space and to detect along the depth direction of the parking space extending inside to capture.
  • the control device is designed to determine a first contour line based on the first contour points and a second contour line based on the second contour points, and to determine the orientation of the parking space on the basis of a spatial position of the first contour line and the second contour line.
  • the control device is designed to determine a parking trajectory for the motor vehicle in the parking space, taking into account the orientation of the parking space.
  • the parking trajectory is determined, in particular, if it has been recognized on the basis of the contour lines that the parking space is suitable for the motor vehicle, So for example over the entire depth of the parking space is wide enough for the motor vehicle.
  • the parking trajectory can be determined starting from a starting point at which the motor vehicle is located after passing the parking space.
  • the parking trajectory can be displayed to the driver of the motor vehicle, for example on a vehicle-side display device, so that the driver can maneuver the motor vehicle into the parking space along the indicated parking trajectory.
  • control device is designed to maneuver the motor vehicle at least semi-autonomously, in particular fully autonomously, along the specific parking trajectory into the parking space.
  • control device can engage in a longitudinal guide and a transverse guide of the motor vehicle.
  • a motor vehicle according to the invention comprises a parking assistance system according to the invention.
  • the motor vehicle is designed in particular as a passenger car.
  • Fig. 1 shows a motor vehicle 1 according to the present invention.
  • the motor vehicle 1 is formed in the present case as a passenger car.
  • the motor vehicle 1 has a parking assistance system 2, which can assist a driver of the motor vehicle 1 when parking in a parking space 3.
  • the parking assistance system 2 has a sensor device 4, which is arranged in the present case in a front region of the motor vehicle 1 and can look in the forward direction.
  • the sensor device 4 may comprise, for example, at least one radar sensor and / or at least one lidar sensor and / or at least one camera.
  • a surrounding area 5 of the motor vehicle 1 can be monitored by detecting sensor data from the surrounding area 5.
  • the sensor device 4 can detect sensor data when passing the motor vehicle 1 past the parking space 3, by means of which the parking space 3 is characterized can be.
  • the parking assistance system 2 has a control device 6, which may be integrated, for example, in a control unit of the motor vehicle 1.
  • the control device 6 can evaluate the sensor data of the sensor device 4 in order to characterize the parking space 3. For example, an orientation of the parking space 3 relative to the motor vehicle 1 can be determined. In addition, the control device 6 can be designed to determine, depending on the orientation of the parking space 3, a parking trajectory for the motor vehicle 1 in the parking space 3, along which the motor vehicle 1 can be parked in the parking space 3. For example, the control device 6 can park the motor vehicle 1 in the parking space 3 at least semi-autonomously along the parking trajectory.
  • the parking space 3 is bounded here by two objects 7, 8, the objects 7, 8 being designed as parked motor vehicles 9, 10 in the present case.
  • the parking space 3 is formed as a rectangular oblique parking space and bounded to the right by a first object 7, here by a first parked motor vehicle 9, and to the left by a second object 8, here by a second parked motor vehicle 10. Based on the objects 7, 8, the orientation of the parking space 3 can be determined.
  • Fig. 2 the objects 7, 8 are shown schematically, wherein the objects 7, 8 are positioned parallel to each other here.
  • the parking space 3 which is formed in the present case as a rectangular Querparklücke.
  • Each object 7, 8 has an outer side 11, 12 facing away from the parking space 3.
  • each object 7, 8 has an inner side 13, 14, which faces the parking space 3 and limits the parking space 3.
  • the outer sides 11, 12 and inner sides 13, 14 of the objects 7, 8 extend along a depth direction T of the parking space 3.
  • the outer sides 11, 12 and inner sides 13, 14 extending along the depth direction T do not have to be parallel to the depth direction T be oriented.
  • the inner sides 13, 14 correspond to side boundaries 15, 16 of the parking space 3, which also extend in the depth direction T of the parking space 3.
  • a first inner side 13 of the first object 7 limits the parking space 3 to the right here.
  • the first inner side 13 thus corresponds to a first side boundary 15.
  • a second inner side 14 of the second object 8 limits the parking space 3 here to the left.
  • the second inner side 14 therefore corresponds to a second lateral boundary 16.
  • the outer sides 11, 12 and inner sides 13, 14 correspond to side areas of the motor vehicles 9, 10 ,
  • FIG. 3 and FIG. 4 is the motor vehicle 1 shown, which has already passed the passing F at the parking space 3 and thus the parking space 3 has already passed.
  • the second object 8 may be arranged obliquely with respect to the first object 7, so that the parking space 3 is not formed rectangular.
  • the parking space 3 so tapers upwards.
  • a first contour line 18 is determined, which extends along the depth direction T of the parking space 3 and represents the first inner side 13 of the first object 7 and the first side boundary 15 of the parking space 3. Since the sensor device 4 is arranged here in the front region of the motor vehicle 1, the second inner side 14 of the second object 8 is not in a detection range of the sensor device 4 and therefore can not be detected directly. This means that no contour points on the second inner side 14 of the second object 8 can be detected. Therefore, the second side boundary 16 of the parking space 3 represented by the second inner side 14 of the second object 8 can not be detected directly on the basis of the sensor data of the sensor device 4.
  • Fig. 3 One way to estimate the second side boundary 16 of the parking space 3 is in Fig. 3 shown.
  • the first contour line 18 is moved in parallel under the false assumption of objects 7, 8 arranged in parallel here.
  • a contour line 19 parallel to the first contour line 18 is generated, which is assumed to represent the side boundary 16 'of the parking space 3. Due to the oblique positioning of the second object 8, however, this lateral boundary 16 'does not correspond to the actual lateral boundary 16 of the parking space 3.
  • the actual orientation of the parking space 3 can therefore be determined according to FIG Fig. 3 can not be determined correctly.
  • a second contour line 21 is determined, which represents the outer side 12 of the second object 8. Since the inner side 14 and the outer side 12 of the second object 8, in particular in the case of a parked motor vehicle, usually run parallel, it can be assumed that the inner side 14, which represents the actual lateral boundary 16 of the parking space 3, along one direction of the second Contour line 21 is oriented. Thus, can Based on the orientations of the contour lines 18, 21, the actual orientation of the parking space 3 are determined. Thus, the actual shape of the parking space 3 can be estimated.
  • a depth direction-dependent width b of the parking space 3 can be determined by a third contour line 22 is generated by parallel displacement of the second contour line 21 by a predetermined displacement value 23.
  • the third contour line 22 represents the inner side 14 of the second object 8 and thus the actual lateral boundary 16 of the parking space 3.
  • the displacement value 23 can be specified as a fixed value which, for example, corresponds to the value of a standard width of a motor vehicle, in particular 1.85 m, equivalent. It can also be provided that third contour points 28 on a front side 29 of the second object 8, which faces the motor vehicle 1 while passing by the parking space 3, are determined.
  • a length of the front side 29 can be determined, which corresponds to the actual distance between the outer side 12 and the inner side 14 of the second object 8.
  • the shift value 23 can also be set as the value of the length of the front side 29.
  • the width b of the parking space 3 can be determined.
  • a depth of the parking space 3 can be determined by a length L of at least one of the contour lines 18, 21, 22 is detected.
  • Fig. 5 It is shown that the outer side 12 of the second object 8, here the second motor vehicle 10, partially covered by another object 24.
  • the object 24 is another motor vehicle 25, which is parked next to the parked motor vehicle 10.
  • a visual beam 26 of the sensor device 4 can thus not reach a certain area 27 of the outer side 12 of the second object 8. If a length of the area of the outer side 12 detected by the sensor device 4, that is to say the length L of the second contour line 21, falls below a predetermined threshold value, then it can be assumed that the outer side 12 of the second object 8 is covered. If the length L of the second contour line 21 falls below the predetermined threshold value, it can no longer be guaranteed that the actual orientation of the parking space 3 can be correctly determined on the basis of the orientation of the second contour line 21. Therefore, in this case, the orientation of the parking space 3 is not determined on the basis of the contour lines 18, 21, 22.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)
EP18189924.6A 2017-09-08 2018-08-21 Procédé de caractérisation d'un espace de stationnement pour un véhicule automobile délimité par deux objets, système d'aide au stationnement ainsi que véhicule automobile Active EP3453595B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017120765.1A DE102017120765A1 (de) 2017-09-08 2017-09-08 Verfahren zum Charakterisieren einer von zwei Objekten begrenzten Parklücke für ein Kraftfahrzeug, Parkassistenzsystem sowie Kraftfahrzeug

Publications (2)

Publication Number Publication Date
EP3453595A1 true EP3453595A1 (fr) 2019-03-13
EP3453595B1 EP3453595B1 (fr) 2020-09-09

Family

ID=63350402

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18189924.6A Active EP3453595B1 (fr) 2017-09-08 2018-08-21 Procédé de caractérisation d'un espace de stationnement pour un véhicule automobile délimité par deux objets, système d'aide au stationnement ainsi que véhicule automobile

Country Status (3)

Country Link
EP (1) EP3453595B1 (fr)
CN (1) CN109466544B (fr)
DE (1) DE102017120765A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210031755A1 (en) * 2019-07-29 2021-02-04 Clarion Co., Ltd. Parking assistance device and control method of parking assistance device
WO2023027113A1 (fr) * 2021-08-27 2023-03-02 株式会社デンソー Dispositif et programme de détection d'objets

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110111603B (zh) * 2019-05-10 2021-05-18 广州达泊智能科技有限公司 基于三维检测技术的停车辅助方法、装置及系统
JP2022055774A (ja) * 2020-09-29 2022-04-08 株式会社アイシン 駐車支援システム、駐車支援装置、駐車支援方法、及びプログラム
CN114001695B (zh) * 2021-11-10 2023-10-03 济南维优科技开发有限公司 一种在线检测铁路站场防溜停车器制动轨形态轮廓的方法

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002228734A (ja) * 2001-02-05 2002-08-14 Nissan Motor Co Ltd 周囲物体認識装置
DE102013103569A1 (de) * 2012-04-17 2013-10-17 Denso Corporation Parkplatzerfassungsvorrichtung

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2749670B1 (fr) * 1996-06-11 1998-07-31 Renault Dispositif et procede de mesure de creneaux de stationnement d'un vehicule automobile
JP2002243857A (ja) * 2001-02-14 2002-08-28 Nissan Motor Co Ltd 周囲物体認識装置
DE10325709A1 (de) * 2003-06-06 2004-12-23 Valeo Schalter Und Sensoren Gmbh Vorrichtung und Verfahren zum Erkennen des Konturverlaufes eines Hindernisses
JP2006193011A (ja) * 2005-01-12 2006-07-27 Toyota Motor Corp 駐車支援装置
US8391557B2 (en) * 2007-09-14 2013-03-05 Magna International Inc. Object detection and ranging method
DE102008027779A1 (de) * 2008-06-11 2009-12-17 Valeo Schalter Und Sensoren Gmbh Verfahren zur Unterstützung eines Fahrers eines Fahrzeugs beim Einparken in eine Parklücke
DE102009028251A1 (de) 2009-08-05 2011-02-10 Robert Bosch Gmbh Verfahren zum unterstützen Einparken in eine Parklücke und Vorrichtung hierzu
DE102011113916A1 (de) * 2011-09-21 2013-03-21 Volkswagen Aktiengesellschaft Verfahren zur Klassifikation von Parkszenarien für ein Einparksystem eines Kraftfahrzeugs
JP5857900B2 (ja) * 2012-07-18 2016-02-10 アイシン精機株式会社 駐車支援装置
DE102013114563A1 (de) * 2013-12-19 2015-06-25 Valeo Schalter Und Sensoren Gmbh Verfahren zum Durchführen eines Einparkvorgangs eines Kraftfahrzeugs in eine Querparklücke, Parkassistenzsystem und Kraftfahrzeug
JP6278920B2 (ja) * 2015-03-23 2018-02-14 三菱電機株式会社 駐車支援装置
JP6544121B2 (ja) * 2015-07-31 2019-07-17 アイシン精機株式会社 駐車支援装置
DE112015007005B4 (de) * 2015-10-06 2021-09-30 Mitsubishi Electric Corporation Parkmodus-Bestimmungssystem

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002228734A (ja) * 2001-02-05 2002-08-14 Nissan Motor Co Ltd 周囲物体認識装置
DE102013103569A1 (de) * 2012-04-17 2013-10-17 Denso Corporation Parkplatzerfassungsvorrichtung

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20210031755A1 (en) * 2019-07-29 2021-02-04 Clarion Co., Ltd. Parking assistance device and control method of parking assistance device
US11465613B2 (en) * 2019-07-29 2022-10-11 Clarion Co., Ltd. Parking assistance device and control method of parking assistance device
WO2023027113A1 (fr) * 2021-08-27 2023-03-02 株式会社デンソー Dispositif et programme de détection d'objets

Also Published As

Publication number Publication date
CN109466544B (zh) 2022-10-28
DE102017120765A1 (de) 2019-03-14
EP3453595B1 (fr) 2020-09-09
CN109466544A (zh) 2019-03-15

Similar Documents

Publication Publication Date Title
EP2920778B1 (fr) Procédé pour effectuer une manoeuvre de stationnement au moins semi-autonome d'un véhicule automobile dans un garage, système d'assistance au stationnement et véhicule automobile
EP3453595B1 (fr) Procédé de caractérisation d'un espace de stationnement pour un véhicule automobile délimité par deux objets, système d'aide au stationnement ainsi que véhicule automobile
EP3086993B1 (fr) Procédé d'exécution d'un processus de stationnement d'un véhicule automobile dans une place de stationnement en épi, système d'assistance au stationnement et véhicule automobile
EP2517190B1 (fr) Procédé de stationnement automatique, en marche avant, dans des places libres de stationnement en épi ou en bataille
EP2282922B1 (fr) Procédé d'assistance au conducteur d'un véhicule pour effectuer un créneau dans une place de stationnement
EP2626279B1 (fr) Système d'assistance au conducteur pour adapter la position cible dans les stationnements perpendiculaires par le biais du conducteur
DE102009028451A1 (de) Kollisionsüberwachung für ein Kraftfahrzeug
EP3219582B1 (fr) Procédé destiné au moins au stationnement semi-automatique d'un véhicule automobile, système d'aide au conducteur et véhicule automobile
DE102015121353A1 (de) Verfahren zum Erkennen einer möglichen Kollision zwischen einem Kraftfahrzeug und einem Objekt unter Berücksichtigung einer räumlichen Unsicherheit, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug
EP3418163A2 (fr) Stationnement automatique après une opération de stationnement manuelle abandonnée
EP3665502A1 (fr) Procédé de surveillance d'une zone environnante d'un véhicule automobile, appareil de commande de capteurs, système d'aide à la conduite ainsi que véhicule automobile
DE102016117712A1 (de) Verfahren zum zumindest semi-autonomen Manövrieren eines Kraftfahrzeugs unter Berücksichtigung eines Erfassungsbereichs eines Sensors, Fahrerassistenzsystem sowie Kraftfahrzeug
DE102018217746A1 (de) Verfahren zum Betrieb eines Fahrerassistenzsystems eines Kraftfahrzeugs und Kraftfahrzeug
DE102018201447A1 (de) Unfallvermeidung mit dem Querverkehr bei einem automatisierten Einparkvorgang in eine Querparklücke
DE102016012345A1 (de) Verfahren zum Erkennen von Objekten
DE102019123797A1 (de) Verfahren zum Erkennen einer Tretbewegung hinter einem Fahrzeug zum Öffnen dessen Kofferraumtür
EP3219584A1 (fr) Procédé destiné au moins à la mise en stationnement semi-automatique d'un véhicule automobile, système d'aide au conducteur et véhicule automobile
DE102018103698A1 (de) Straßenabtastverfahren
DE102009046677A1 (de) Einparkverfahren mit einem Fahrerassistenzsystem
EP3199429B1 (fr) Procédé d'assistance à un conducteur de véhicule automobile lors du processus de stationnement dans une place de stationnement ayant une bordure trottoir, système d'assistance au conducteur et véhicule automobile
DE102013010729B4 (de) Verfahren zum Abbrechen eines automatischen Fahrmodus eines Kraftfahrzeugs, Fahrerassistenzeinrichtung und Kraftfahrzeug
DE102017108857A1 (de) Verfahren zum Einparken an einem Bordstein
EP3219583B1 (fr) Procédé destiné à la mise en stationnement au moins semi-automatique d'un véhicule automobile, système d'aide au conducteur et véhicule automobile
EP3658442A1 (fr) Procédé d'entrée en stationnement au moins semi-autonome d'un véhicule automobile, système d'assistance au conducteur ainsi que véhicule automobile
DE102016103673A1 (de) Verfahren zum Manövrieren eines Kraftfahrzeugs mit Bestimmung eines Restwegs zur Bremsansteuerung, Steuereinrichtung, Fahrerassistenzsystem sowie Kraftfahrzeug

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20190912

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20200424

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1311249

Country of ref document: AT

Kind code of ref document: T

Effective date: 20200915

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502018002376

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG4D

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201209

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20201210

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20200909

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210111

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20210109

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502018002376

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20210610

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20210831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210831

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210821

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210821

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20210831

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20200923

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230528

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: HU

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT; INVALID AB INITIO

Effective date: 20180821

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20200909

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: DE

Payment date: 20240806

Year of fee payment: 7

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20240823

Year of fee payment: 7

REG Reference to a national code

Ref country code: AT

Ref legal event code: MM01

Ref document number: 1311249

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230821

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20240829

Year of fee payment: 7